A cleaning robot and a cleaning method

Abstract

The present invention relates to the field of cleaning, and discloses a cleaning robot and a cleaning method. The cleaning robot comprises a main body and a working component. The working component is controlled by the main body and can move along three directions of X-axis, Y-axis and Z-axis. The working component comprises a cleaning head and a connecting rod. One end of the connecting rod is connected to the main body, and the other end is connected to the cleaning head. The connecting rod can rotate relative to the main body, and the cleaning head can rotate relative to the connecting rod. The cleaning head can clean along the outer surface and inner surface of the object to be cleaned. The cleaning method cleans the product based on the shape of the product to be cleaned, and the damage to the object to be cleaned is minimal, and the cleaning effect is good. The inner and outer surfaces of the object to be cleaned can be covered, and the use effect and experience are better when cleaning footwear products. Moreover, due to the non-immersion cleaning method, leather shoes can also be cleaned, which greatly expands its scope of application.

Description

Technical Field

[0001] The invention relates to the field of cleaning, and in particular to a cleaning robot and a cleaning method. Background Art

[0002] The existing mainstream shoe cleaning equipment is generally a pulsator shoe washing machine, the principle of which is to drive the shoes to rotate in the barrel through the pulsator, and contact the brush heads on the surrounding barrel walls, thereby cleaning the outer surface of the shoes, but not cleaning the inside of the shoes, and the cleaning effect is not good. In addition, the contact pressure between the brush head and the shoe surface in this cleaning method is uncontrollable, and it is easy to damage the shoe surface when brushing at high speed, and it is easy to damage other decorations on the shoes. The actual use experience is not good, and due to the immersion washing method, leather shoes cannot be cleaned, and the scope of application is limited. Therefore, there is a need for a non-immersion cleaning robot and a corresponding cleaning method that can clean the inner and outer surfaces of shoes. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides a cleaning robot and a cleaning method, which solve the problem that the prior art uses an immersion method to clean footwear products and can only clean the outer surface of the shoes.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A cleaning robot is provided, comprising a main body and a working component, wherein the working component is controlled by the main body and can move along three directions of X-axis, Y-axis and Z-axis, the working component comprises a cleaning head and a connecting rod, one end of the connecting rod is connected to the main body, and the other end is connected to the cleaning head, the connecting rod can rotate relative to the main body, the cleaning head can rotate relative to the connecting rod, and the cleaning head can clean along the outer surface and inner surface of the object to be cleaned.

[0006] As a further improvement of the above technical solution, the connecting rod and the main body are connected via a first electric joint, and the first electric joint can drive the connecting rod to rotate around the Z axis.

[0007] As a further improvement of the above technical solution, the connecting rod and the cleaning head are connected via a second electric joint, and the second electric joint can drive the cleaning head to rotate around the Y-axis.

[0008] As a further improvement of the above technical solution, the cleaning head includes a motor and a reversing device, a brush head is detachably mounted on the reversing device, and the reversing device can realize automatic replacement of the brush head.

[0009] As a further improvement of the above technical solution, the brush head includes a long-bristle brush and a short-bristle brush, and the reversing device is only connected to a single brush head at any time, the long-bristle brush is installed at the end of the reversing device, and the short-bristle brush is installed on the side of the reversing device, and the long-bristle brush is connected to the reversing device through a third electric joint, and the third electric joint can drive the long-bristle brush to rotate around the Y-axis.

[0010] As a further improvement of the above technical solution, a dust suction port is provided on the side of the cleaning head, and the dust suction port is used to suck dust and water from the objects to be cleaned.

[0011] As a further improvement of the above technical solution, the cleaning head is provided with a clean water nozzle and a detergent nozzle, and the clean water nozzle is arranged in parallel with the detergent nozzle.

[0012] As a further improvement of the above technical solution, a camera and an ultraviolet lamp are fixed on the cleaning head. Driven by the cleaning head, the camera detects the inner and outer surfaces of the objects to be cleaned along with the cleaning head, and the ultraviolet lamp can sterilize the objects to be cleaned.

[0013] A cleaning method is also provided, comprising the following steps:

[0014] S1 determines the type of shoes to be cleaned. If they are leather shoes, S3 is executed. Otherwise, S2 is executed.

[0015] S2 fixes the shoes, and the camera scans the inner and outer surfaces of the shoes, storing and analyzing the materials and dirt conditions of each part of the shoes. Then the detergent nozzle sprays detergent on the inner and outer surfaces of the shoes, and the motor drives the brush head to rotate and scrub the inner and outer surfaces of the shoes, spraying clean water to rinse the detergent and dirt, and then sucking away the residual moisture through the vacuum port;

[0016] The S3 brush head and the clean water nozzle move on the surface of the leather shoes, controlling the water volume while spraying water mist and brushing until the surface of the leather shoes is clean, and then the residual moisture on the inner and outer surfaces of the shoes is sucked away through the vacuum port, and then the detergent nozzle sprays liquid shoe polish, and a short-bristled brush is used to spread the shoe polish evenly.

[0017] As a further improvement of the above technical solution, the process in S2 where the motor drives the brush head to rotate and brush the inner and outer surfaces of the shoes also includes the following steps:

[0018] S21 Use a short-bristled brush to clean the outer surface of the shoe and the inner surface of the shoe opening, and a long-bristled brush to clean the inner surface of the shoe near the toe;

[0019] S22 After the outer surface and the inner surface of the shoe mouth are cleaned, the inner surface of the shoe head is cleaned, and the reversing device is replaced with a long-bristled brush;

[0020] S23 makes the angle between the connecting rod, the cleaning head and the shoe opening 180 degrees, and controls the long-hair brush to vertically extend downward into the shoe opening at a position close to the front end of the shoe opening until the end of the long-hair brush reaches the sole of the shoe;

[0021] S24 controls the cleaning head to move downward and toward the heel at the same time, and reduces the angle between the long-bristle brush and the cleaning head until one end of the cleaning head contacts the sole;

[0022] S25 controls the cleaning head to move toward the toe of the shoe, driving the long-haired brush to move toward the toe of the shoe, and stops when the cleaning head approaches the front end of the shoe opening;

[0023] S26 controls the connecting rod to move downward and toward the heel at the same time, and at the same time reduces the angle between the cleaning head and the two banks, until one end of the connecting rod touches the sole;

[0024] S27 controls the connecting rod to move toward the shoe head, thereby driving the cleaning head and the long-hair brush to move until the connecting rod stops when it approaches the front end of the shoe mouth;

[0025] S28 controls the long-bristled brush to rotate around the cleaning head, and controls the connecting rod to move back and forth between the front end of the shoe opening and the heel, so that the long-bristled brush can brush various positions inside the shoe toe.

[0026] The beneficial effects of the present invention are: the product is cleaned based on the shape of the product to be cleaned, the damage to the item to be cleaned is minimal, and the cleaning effect is good, and the inner and outer surfaces of the item to be cleaned can be covered, and the use effect and experience are better when cleaning footwear products. Moreover, since a non-immersion cleaning method is adopted, leather shoes can also be cleaned, which greatly expands its scope of application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0028] Figure 1 is an overall schematic diagram of a cleaning robot in one embodiment of the present invention;

[0029] Figure 2 is a three-dimensional schematic diagram of a working component in one embodiment of the present invention;

[0030] Figure 3 It is a three-dimensional schematic diagram of a working component in another direction in one embodiment of the present invention. DETAILED DESCRIPTION

[0031] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that each technical feature and the overall technical solution of the present invention can be understood intuitively and figuratively, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0032] In the description of the present invention, if it involves a description of orientation, such as "upper", "lower", "front", "back", "left", "right", etc., the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. When a feature is referred to as "set", "fixed", or "connected" to another feature, it can be directly set, fixed, or connected to the other feature, or it can be indirectly set, fixed, or connected to the other feature.

[0033] In the description of the present invention, if "several" is involved, it means one or more, if "multiple" is involved, it means more than two, if "greater than", "less than" or "exceed" is involved, it should be understood as not including the number itself, if "above", "below" or "within" is involved, it should be understood as including the number itself. If "first" or "second" is involved, it should be understood as being used to distinguish technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0034] In addition, unless otherwise defined, the technical terms and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art. The terms used in the present invention are only for describing specific embodiments, not for limiting the present invention.

[0035] The embodiment provided by the present invention is used as a cleaning robot to perform a cleaning function. Here, shoes are selected as the objects to be cleaned to illustrate the embodiment provided by the present invention.

[0036] Reference Figure 1 , shows an overall schematic diagram of a cleaning robot in an embodiment of the present invention, the cleaning robot includes a main body 1, the main body 1 includes a working platform, the working component 2 in the platform can move in three directions of X, Y, and Z, wherein the directions of X, Y, and Z are shown in the figure, the movement of the bracket 12 along the guide rail 11 realizes the movement of the bracket 12 in the X direction, the movement of the slide rail 13 on the bracket 11 along the tracks on both sides of the bracket realizes the movement of the slide rail 13 in the Z direction, the movement of the working component 2 along the slide rail 13 realizes the movement of the working component in the y direction, and thus the working component 2 can move freely in the three directions of X, Y, and Z, that is, theoretically the working component 2 can reach any spatial position in the working area.

[0037] The shoes to be cleaned are placed on the platform, and the working component 2 cleans the shoes. The specific cleaning process and corresponding structure are described later.

[0038] Reference Figure 2, which shows a three-dimensional schematic diagram of a working component in one embodiment of the present invention. Figure 3 , shows a three-dimensional schematic diagram of another direction of the working component in one embodiment of the present invention. Figure 2 and Figure 3 Describe the working components.

[0039] The working assembly is composed of a connecting rod 21 and a cleaning head 22. One end of the connecting rod 21 is connected to the slide rail 13 (see Figure 1 ), the other end is connected to the cleaning head 22, the connecting rod 21 and the slide rail 13 (see Figure 1 ) are connected by an electric joint 23, the connecting rod 21 and the cleaning head 22 are connected by an electric joint 24, the electric joint 23 can drive the connecting rod 21 to rotate around the Z axis, and the electric joint 24 can drive the cleaning head 22 to rotate around the Y axis. In other words, the electric joint 23 and the electric joint 24 work together to increase the cleaning head 22's two degrees of freedom of rotation around the Z axis and around the Y axis (with the electric joint 24 as the axis of rotation to move closer to or away from the connecting rod 21). The cleaning head has a total of 5 degrees of freedom, which can reach almost any outer surface of the shoe during cleaning, except for the case where the cleaning head 22 cannot contact the inner surface of the toe due to the excessive length of the shoe, the cleaning device provided in this embodiment can clean any position of the shoe.

[0040] For the cleaning head 22, a reversing device 223 is provided at its free end. The reversing device 223 serves as an intermediate piece connecting the motor 224 and the brush head. The reversing device and the brush head are detachably connected. Based on the freedom of the cleaning head 22 in five directions in the working space (arbitrary movement and rotation around two axes), the cleaning head 22 can automatically replace brushes of different types through the reversing device 223. The connection methods between the reversing device 223 and the brush include but are not limited to magnetic connection, snap connection or snap thread matching. In order to prevent interference between multiple brushes, generally speaking, only one type of brush is installed on the reversing device 223 at any time. In this embodiment, the free end of the reversing device 223 is connected to the long-hair brush 2211, and the side is connected to the short-hair brush 2212. The long-hair brush 2211 and the short-hair brush 2212 in the figure of this application exist at the same time only to reflect the difference in the installation position of brushes of different types, and are not the installation state of the brushes in actual work.

[0041] The motor 224 controls the long-bristle brush 2221 and the short-bristle brush 2212 respectively through the commutation device 223. That is, when the short-bristle brush 2212 needs to be used, the commutation device 223 connects the transmission shaft of the motor 224 to the short-bristle brush 2212; when the long-bristle brush 2211 needs to be used, the commutation device 223 connects the transmission shaft of the motor 224 to the long-bristle brush 2211.

[0042] Generally speaking, the long-bristled brush 2211 is used to clean the inside of the shoe head, and the short-bristled brush 2212 is used to clean the outer surface of the shoe and the inner surface of the shoe opening area. In order to facilitate the long-bristled brush 2211 to extend into the inside of the shoe (especially the long-tube shoe), the connection end of the long-bristled brush 2211 and the reversing device 223 is also designed with a joint, so that the long-bristled brush 2211 can rotate around the Y axis (relative to the main body of the cleaning head) and can extend into the inside of the shoe.

[0043] A dust suction port 2221 is provided on the side of the cleaning head 22, which can absorb dust and water during cleaning. A water nozzle 2222 and a detergent nozzle 2223 are arranged parallel to the dust suction port 2221. The detergent nozzle 2223 sprays detergent (shoe polish, etc. can be sprayed as needed), which is generally a foam detergent, and the water nozzle 2222 sprays clean water.

[0044] In addition, the cleaning head 22 is integrated with a camera 225 and an ultraviolet lamp 226. The camera 225 can scan the condition of the shoe upper, and the ultraviolet lamp 226 can perform disinfection.

[0045] In actual use, different cleaning methods are adopted for different types of shoes and different needs.

[0046] Non-leather shoes cleaning steps:

[0047] Step 1: Fix the shoes with external support and shoe last. Both the support and shoe last are grid-shaped, which can expose most areas of the shoes for brushing;

[0048] Step 2: The working component carries the camera to scan around the surface of the shoe, and then moves the camera deep into the shoe to scan and obtain an image;

[0049] Step 3: Upload the image obtained in step 2 to the cloud server, analyze the three-dimensional information of the shoes, the material of each part, and the dirtiness, and return it to the cleaning robot;

[0050] Step 4: The working component carries a detergent spray nozzle and sprays foam detergent on the surface and inside of the shoes;

[0051] Step 5: The motor rotates, driving the short-bristle brush to rotate through the reversing device, and the working component moves the short-bristle brush on the surface and inside of the shoe to scrub with detergent;

[0052] Step 6: Use a water spray nozzle and a short-bristled brush to continuously spray water and scrub the working component to remove detergents and stains;

[0053] Step 7: The working component with the suction port moves over the outer and inner surfaces of the shoe to absorb residual moisture.

[0054] Cleaning process inside the toe box:

[0055] Step 1: The long-bristled brush naturally hangs down and keeps 180 degrees with the cleaning head body. The electric joint rotates to keep the cleaning head and the connecting rod at 180 degrees. The long-bristled brush goes vertically into the shoe near the front end of the shoe mouth until its end reaches the sole. Then the cleaning head moves downward to the heel. At the same time, the long-bristled brush approaches the cleaning head body until the end of the cleaning head body also touches the sole.

[0056] Step 2: Move the cleaning head toward the toe of the shoe, push the long-bristled brush forward, and stop when the cleaning head approaches the front end of the shoe opening.

[0057] Step 3: The connecting rod continues to move downward and toward the heel, so that the angle between the cleaning head and the connecting rod is less than 180°, until the end of the connecting rod touches the sole.

[0058] Step 4: Move the connecting rod toward the toe of the shoe, continue to push the long-bristle brush forward, and stop when the connecting rod reaches the front end of the shoe opening.

[0059] Step 5: The motor 7 rotates, driving the long-hair brush to rotate around the central axis of the cleaning head, and the connecting rod moves back and forth between the front end of the shoe opening and the heel, so that the long-hair brush can brush all positions inside the shoe toe.

[0060] Leather shoes oiling process:

[0061] Step 1: The working component drives the short-bristled brush and the clean water nozzle to move on the surface of the leather shoes, and the water volume is controlled to spray water mist while brushing until the surface of the leather shoes is clean.

[0062] Step 2: The working component drives the suction port to move on the outer and inner surfaces of the shoe to absorb residual moisture.

[0063] Step 3: The working component drives the detergent nozzle to spray liquid shoe polish on the surface of the leather shoes.

[0064] Step 4: The working component drives the short-bristled brush to evenly apply the shoe polish.

[0065] Disinfection process:

[0066] Step 1: Turn on the long UV light on the cleaning head.

[0067] Step 2: The electric joint rotates to keep the cleaning head and the connecting rod at an angle of 180°. The cleaning head extends vertically into the shoe at the front end of the shoe opening until the end of the cleaning head touches the sole.

[0068] Step 3: The electric joint rotates at a low speed, driving the connecting rod to rotate, which further drives the UV lamp to rotate, and the ultraviolet rays irradiate the inside of the shoes to continuously disinfect.

[0069] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the embodiments, and technicians in the relevant field can make various equivalent modifications or substitutions without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A cleaning method, applied to a cleaning robot, the cleaning robot comprises a main body and a working component, the working component is controlled by the main body to move along three directions of X-axis, Y-axis and Z-axis, the working component comprises a cleaning head and a connecting rod, one end of the connecting rod is connected to the main body, and the other end is connected to the cleaning head, the connecting rod can rotate relative to the main body, the cleaning head can rotate relative to the connecting rod, and the cleaning head can clean along the outer surface and inner surface of the object to be cleaned; the cleaning head comprises a motor and a reversing device, and a brush head is detachably mounted on the reversing device; the connecting rod and the main body are connected by a first electric joint, and the first electric joint can drive the connecting rod to rotate around the Z axis; the connecting rod and the cleaning head are connected by a second electric joint, and the second electric joint can drive the cleaning head The head rotates around the Y axis; the brush head includes a long-bristle brush and a short-bristle brush, and the reversing device is only connected to a single brush head at any time, the long-bristle brush is installed at the end of the reversing device, and the short-bristle brush is installed on the side of the reversing device, and the long-bristle brush is connected to the reversing device through a third electric joint, and the third electric joint can drive the long-bristle brush to rotate around the Y axis; a dust suction port is provided on the side of the cleaning head, and the dust suction port is used to suck dust and water from the items to be cleaned; the cleaning head is provided with a clean water nozzle and a detergent nozzle, and the clean water nozzle is arranged parallel to the detergent nozzle; a camera and an ultraviolet lamp are fixed on the cleaning head, and driven by the cleaning head, the camera detects the inner and outer surfaces of the items to be cleaned along with the cleaning head, and the ultraviolet lamp can sterilize the items to be cleaned; it is characterized in that The cleaning method comprises the following steps: S1 determines the type of shoes to be cleaned. If they are leather shoes, S3 is executed. Otherwise, S2 is executed. S2 fixes the shoes, and the camera scans the inner and outer surfaces of the shoes, storing and analyzing the materials and dirt conditions of each part of the shoes. Then the detergent nozzle sprays detergent on the inner and outer surfaces of the shoes, and the motor drives the brush head to rotate and scrub the inner and outer surfaces of the shoes, spraying clean water to rinse the detergent and dirt, and then sucking away the residual moisture through the vacuum port; The S3 brush head and the clean water nozzle move on the surface of the leather shoes, controlling the water volume while spraying water mist and brushing until the surface of the leather shoes is clean, and then the residual moisture on the inner and outer surfaces of the shoes is sucked away through the vacuum port, and then the detergent nozzle sprays liquid shoe polish, and a short-bristled brush is used to spread the shoe polish evenly.

2. The cleaning method according to claim 1, characterized in that: The process in S2 where the motor drives the brush head to rotate and scrub the inner and outer surfaces of the shoe also includes the following steps: S21 Use a short-bristled brush to clean the outer surface of the shoe and the inner surface of the shoe opening, and a long-bristled brush to clean the inner surface of the shoe near the toe; S22 After the outer surface and the inner surface of the shoe mouth are cleaned, the inner surface of the shoe head is cleaned, and the reversing device is replaced with a long-bristled brush; S23 makes the angle between the connecting rod, the cleaning head and the shoe opening 180 degrees, and controls the long-hair brush to vertically extend downward into the shoe opening at a position close to the front end of the shoe opening until the end of the long-hair brush reaches the sole of the shoe; S24 controls the cleaning head to move downward and toward the heel at the same time, and reduces the angle between the long-bristle brush and the cleaning head until one end of the cleaning head contacts the sole; S25 controls the cleaning head to move toward the toe of the shoe, driving the long-haired brush to move toward the toe of the shoe, and stops when the cleaning head approaches the front end of the shoe opening; S26 controls the connecting rod to move downward and toward the heel at the same time, and at the same time reduces the angle between the cleaning head and the two banks, until one end of the connecting rod touches the sole; S27 controls the connecting rod to move toward the shoe head, thereby driving the cleaning head and the long-hair brush to move until the connecting rod stops when it approaches the front end of the shoe mouth; S28 controls the long-bristled brush to rotate around the cleaning head, and controls the connecting rod to move back and forth between the front end of the shoe opening and the heel, so that the long-bristled brush can brush various positions inside the shoe toe.

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